Police have released body cam video of officers joking with three black people, including Bob Marley's granddaughter, who say they plan to sue over what they say was an excessive response to a racially motivated 911 call.

The footage was released by the Rialto Police Department in California on Tuesday showing a laid-back and, at times, light-hearted interaction between the officers and the group they had pulled over.

The group, including Marley's granddaughter Donisha Prendergast, had been checking out of their Airbnb rental with luggage when a neighbor called police April 30 reporting a possible burglary.

Body cam footage shows Prendergast and her two friends later disagreeing with police over whether the 911 call, which was made by an older white woman, was racially motivated.

Footage shared on Instagram by Prendergast's friend Kells Fyffe-Marshall showed a portion of the interaction with police and she wrote that they had been 'surrounded' by seven police cars and told to put their hands in the air.

'They locked down the neighborhood and had us standing in the street. Why?' she wrote alongside the footage. 'A neighbor across the street saw three black people packing luggage into their car and assumed we were stealing from the house.'